TY - GEN A1 - Neumann, Patrick P. A1 - Johann, Sergej A1 - Tiebe, Carlo A1 - Gawlitza, Kornelia A1 - Bartelmeß, Jürgen A1 - Bartholmai, Matthias T1 - Airborne Remote Gas Sensing and Mapping N2 - Leaking methane (CH4) from infrastructures, such as pipelines and landfills, is critical for the environment but can also pose a safety risk. To enable a fast detection and localization of these kind of leaks, we developed a novel robotic platform for aerial remote gas sensing. Spectroscopic measurement methods for remote sensing of selected gases lend themselves for use on mini-copters, which offer a number of advantages for inspection and surveillance over traditional methods. No direct contact with the target gas is needed and thus the influence of the aerial platform on the measured gas plume can be kept to a minimum. This allows to overcome one of the major issues with gas-sensitive mini-copters. On the other hand, remote gas sensors, most prominently Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensors have been too bulky given the payload and energy restrictions of mini-copters. Here, we present the Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), which combines a novel lightweight TDLAS sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile hexacopter. The proposed system can be deployed in scenarios that cannot be addressed by currently available robots and thus constitutes a significant step forward for the field of Mobile Robot Olfaction (MRO). It enables tomographic reconstruction of gas plumes and a localization of gas sources. We also present first results showing its performance under realistic conditions. T2 - Colloquium of Optical Spectrometry (COSP) 2017 CY - Berlin, Germany DA - 27.11.2017 KW - Tunable Diode Laser Absorption Spectroscopy (TDLAS) KW - UAV-REGAS KW - Mobile Robot Olfaction KW - Tomographic reconstruction of gas plumes KW - Localization of gas sources PY - 2017 UR - https://opus4.kobv.de/opus4-bam/frontdoor/index/index/docId/43204 AN - OPUS4-43204 AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany